CN103162614A - Online self-calibration method for angular displacement sensor - Google Patents

Online self-calibration method for angular displacement sensor Download PDF

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CN103162614A
CN103162614A CN2013101024460A CN201310102446A CN103162614A CN 103162614 A CN103162614 A CN 103162614A CN 2013101024460 A CN2013101024460 A CN 2013101024460A CN 201310102446 A CN201310102446 A CN 201310102446A CN 103162614 A CN103162614 A CN 103162614A
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read head
main
rotor
sensor
auxiliary
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CN103162614B (en
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鲁进
彭东林
陈锡侯
张天恒
汤其富
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Chongqing University of Technology
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Abstract

The invention discloses an online self-calibration method for an angular displacement sensor. A main reading head and an auxiliary reading head are arranged inside a sensor system, a rotor of the sensor is fixedly connected with a rotary portion of a measured object and is respectively indicated by indicating values of the main reading head and the auxiliary reading head to rotate to a series of special positions until rotating by a complete 360-degree angle, the indicating values of the main reading head are recorded when the rotor rotates at the special positions, a measuring error function of the sensor is acquired after data of the indicating values are processed, and online self-calibration for the sensor is realized. In the self-calibration method, according to the circumferential closed principle in angular measurement, the main reading head is used for measurement by the aid of the auxiliary reading head, and online self-calibration for the sensor can be realized by processing measured data without a standard device and other high-precision angular displacement measuring instruments.

Description

The online self-calibrating method of a kind of angular displacement sensor
Technical field
The invention belongs to the accurate displacement fields of measurement, the On-line self-diagnosis that is particularly suitable for the angular displacement sensor measuring error is surveyed.
Background technology
Angular displacement sensor is the angle displacement measurement element.Because deviations such as processing, installation, electric parameters, there is error in this class sensor when carrying out angle displacement measurement.Usually, can by these sensors are demarcated, improve measuring accuracy.But present known scaling method generally need to by standard or more high-precision angle displacement measurement instrument, be not suitable for carrying out online.In addition, have a kind of disclosed method to adopt two different electromagnetic type angular displacement sensors of number of poles are realized from demarcation, but this method needs two covers just can realize the different sensing system of number of poles.
Summary of the invention
The present invention is directed to the problems referred to above, disclose a kind of online self-calibrating method of angular displacement sensor.This self-calibrating method is according to the circumference closure principle in measurement of angle, main read head is measured under the assistance of auxiliary read head, by measurement data is processed, can realize the online from demarcating of sensor under the condition that there is no standard and other High-Accuracy Angular Displacement Measurement instrument.
The technical solution used in the present invention is:
Each of main read head and auxiliary read head is arranged in sensing system inside, the rotating part of rotor sensor and measurand is connected firmly, make it respectively under the indicating value indication of main read head and auxiliary read head, be turned back to a series of specific positions until one complete 360 °, the indicating value of master's read head when being recorded in each specific position, indicating value is carried out obtaining after data are processed the measuring error function of sensor, realize the online from demarcating of sensor.
Comprise rotor portion and stationary part on described sensing system structure, sensing system can be measured the relative gyration between rotor and stator.
The read head that described main read head uses when being the sensing system normal operation, main read head is fixedly connected with rotor sensor, can provide the measured value of rotor and the angular displacement of stator Arbitrary Relative under the condition of 360 ° of scope built-in system resolving powers.
Described auxiliary read head only carries out using from timing signal at sensor, auxiliary read head can be fixed with rotor, also can fix with stator, be used for realizing a fixedly relative motion of special angle between aiding sensors rotor and stator, the version of auxiliary read head and main read head and measuring error can be identical also can be variant.
Described fixedly special angle refers to that rotor is 0 ° from main read head reading and forwards reading to and be
Figure BDA00002976310700021
The time actual angle that turns over, be designated as θ 0Wherein, M is the positive integer that is not equal to by the integral multiple of the main error frequency that is comprised in demarcation angular displacement sensor measuring error and these main frequencys, and under this prerequisite, M is taken as prime number, as 17,19,23 ... effect is better Deng demarcating.M can be taken as different value in difference is demarcated, but M can only get a fixing value in same time is demarcated.
Described respectively under the indication of the indicating value of main read head and auxiliary read head, be turned back to a series of specific positions until one complete 360 °, when being recorded in each specific position, the indicating value of master's read head comprises the following steps:
1) with main read head and auxiliary read head zero clearing;
2) will assist read head and stator to fix and keep motionless, rotary rotor to main read head is
Figure BDA00002976310700022
The position (i=0,1,2,, n-1, step 2) repeat 1 time, i adds 1), recording main read head reading is { A 2i;
3) will assist read head and rotor to fix (should keep the reading of main read head and auxiliary read head not change in fixation procedure), rotary rotor to main read head reading is 0, and this moment, auxiliary read head reading was non-vanishing;
4) will assist read head and stator to fix and keep motionless, rotor turns over θ on the current location basis 0, namely go to main read head reading and be
Figure BDA00002976310700023
The position;
5) will assist read head and rotor to fix (should keep the reading of main read head and auxiliary read head not change in fixation procedure), rotary rotor is 0 to the reading of auxiliary read head, and recording main read head reading is { A 2i+1;
6) repeat above-mentioned steps 2) to 5), a sequence A that comprises 2n measured value of the main read head of acquisition 0, A 1..., A 2n-2, A 2n-1
Describedly indicating value is carried out data process odd term and the even item refer to aforesaid main read head is measured in sequence and subtract each other item by item, obtain one and comprise n sequence { C that puts i, that is: C i=A 2i+1-A 2i, and to { C iCarry out discrete Fourier transformation, obtain its corresponding amplitude spectrum { Am iAnd phase spectrum { P i.
After described data were processed, the measuring error function of sensor can be expressed as formula (1),
δ (θ)=A 0+ k (θ) (1) is wherein: δ (θ) is the measuring error function; θ is the measured angle displacement;
k ( θ ) = Σ i = 1 n / 2 - 1 { Am i 2 × sin ( i × Am 0 2 ) × sin ( i × θ + P i - π 2 - Am 0 2 ) }
A 0 = max ( k ( θ ) ) + min ( k ( θ ) ) 2 ;
Wherein: max (k (θ)) is the maximal value of k (θ); Min (k (θ)) is the minimum value of k (θ).
Describedly realize that sensor is online and refer to from demarcating, after obtaining the measuring error function δ (θ) of sensor, the sensor indicating value f of θ (θ) at an arbitrary position can be under the condition that does not need standard and other high precision measuring instruments, and through type (2) obtains its corresponding calibration value Ca (θ):
Ca(θ)=f(θ)-δ(θ) （2）。
Key point of the present invention is:
1) there are two read heads angular displacement sensor inside, a main read head and an auxiliary read head, and both version, measuring error can identically also can have different;
2) auxiliary read head can be fixed with stator, also can fix with rotor;
3) being positioned at reading value at main read head is Position and turn on this basis a θ 0The time, record respectively the indicating value of main read head, obtain the indicating value sequence A of a main read head 0, A 1..., A 2n-2, A 2n-1
4) with the indicating value sequence A 0, A 1..., A 2n-2, A 2n-1Odd term and even item subtract each other item by item successively, obtain sequence { C i;
5) to sequence { C iCarry out discrete Fourier transformation, obtain its corresponding amplitude spectrum { Am iAnd phase spectrum { P i;
6) obtain the function representation δ (θ) of measuring error according to formula (1);
7) obtain the calibration value of optional position according to formula (2), realize the online from demarcating of sensor.
Compared with the prior art, advantage of the present invention is:
(1) demarcate to adopt two read heads to realize, need not standard or high precision with reference to female instrument, can realize online from demarcating;
(2) with respect to traditional full combined method and pointwise standardization, the sampling number of described self-calibrating method is few;
(3) owing to can solving error function, described certainly the demarcation can be demarcated arbitrfary point in the complete cycle scope, and existing full combined method and point by point method can only be demarcated finite point;
The structural parameters of (4) two read heads can be the same or different, and manufacturing accuracy is required to reduce.
Description of drawings
Fig. 1 is the magnetic grid angular displacement sensor schematic diagram with two read heads;
Fig. 2 is the A-A sectional view of Fig. 1.
1-main read head; 2-auxiliary read head; 3-disk; 4-stator; 5-rotor.
Embodiment
Below in conjunction with Figure of description, technical scheme of the present invention is described in further detail.
Referring to Fig. 1, the online self-calibrating method of a kind of error of angular displacement sensor system is: in the magnetic induction sensor that is made of main read head 1, auxiliary read head 2, disk 3, rotor 4 and stator 5, disk 3 is fixed on stator 5, main read head 1 is fixed on rotor 4 and rotates with measurand, and auxiliary read head 2 both can also can be fixed with stator 5 with rotor 4 is fixing; Main read head 1 can carry out reading to disk, realizes the angle displacement measurement to measurand; Auxiliary read head 2 also can carry out reading to disk, rotary rotor under the indication of auxiliary read head 2 indicating values, can make and realize a fixedly relative motion of special angle between rotor sensor and stator, in this embodiment, auxiliary read head adopts the version identical with main read head.
Operate the measuring error function that obtains magnetic grid according to following steps:
1) with main read head and auxiliary read head zero clearing;
2) will assist read head and stator to fix and keep motionless, rotary rotor to main read head reading is
Figure BDA00002976310700041
The position, recording main read head reading is { A 2i(wherein i is taken as 0,1,2 successively ..., 58,59, step 2) repeat 1 time, i adds 1);
3) will assist read head and rotor to fix (should keep the reading of main read head and auxiliary read head not change in fixation procedure), rotary rotor to main read head reading is 0, and this moment, auxiliary read head reading was non-vanishing;
4) will assist read head and stator to fix and keep motionless, rotor turns over θ on the current location basis 0, namely go to main read head reading and be
Figure BDA00002976310700042
The position;
5) will assist read head and rotor to fix (should keep the reading of main read head and auxiliary read head not change in fixation procedure), rotary rotor is 0 to auxiliary read head reading, and recording main read head reading is { A 2i+1;
6) repeat above-mentioned steps 2) to 5), a sequence A that comprises 120 measured values of the main read head of acquisition 0, A 1..., A 118, A 119
The measurement sequence A that will comprise 120 measured values 0, A 1..., A 118, A 119In odd term and even item subtract each other item by item, obtain a sequence { C who comprises 60 points i, that is: C i=A 2i+1-A 2i(wherein i is integer, is taken as successively 0,1,2 ..., 58,59).
To { C iCarry out discrete Fourier transformation, obtain its corresponding amplitude spectrum { Am iAnd phase spectrum { P i.
The measuring error function of magnetic induction sensor is formula (3),
δ (θ)=A 0+ k (θ) (3) is wherein: k ( θ ) = Σ i = 1 29 { Am i 2 × sin ( i × Am 0 2 ) × sin ( i × θ + P i - π 2 - Am 0 2 ) }
A 0 = max ( k ( θ ) ) + min ( k ( θ ) ) 2
The magnetic induction sensor indicating value f of θ (θ) at an arbitrary position can obtain its corresponding calibration value Ca (θ) by through type (2).

Claims (5)

1. online self-calibrating method of angular displacement sensor is characterized in that: each of main read head and auxiliary read head is arranged in sensing system inside;
The rotor of described main read head and sensor is fixedly connected, and is the read head that uses in sensing system when normal operation, can provide the measured value of rotor and the angular displacement of stator Arbitrary Relative under the condition of 360 ° of scope built-in system resolving powers;
Described auxiliary read head only carries out using from timing signal at sensor, auxiliary read head and rotor are fixed, or fix with stator, be used for realizing a fixedly relative motion of special angle between aiding sensors rotor and stator, the version of auxiliary read head and main read head and measuring error can be identical also can be variant;
The rotating part of rotor sensor and measurand is connected firmly, respectively under the indicating value indication of main read head and auxiliary read head, be turned back to a series of specific positions until one complete 360 °, the indicating value of master's read head when being recorded in each specific position, indicating value is carried out obtaining after data are processed the measuring error function of sensor, realize the online from demarcating of sensor.
2. the online self-calibrating method of angular displacement sensor according to claim 1, it is characterized in that: described respectively under the indicating value indication of main read head and auxiliary read head, be turned back to a series of specific positions until one complete 360 °, when being recorded in each specific position, the indicating value of master's read head refers to: main read head indicating value obtains in pairs, make two indicating values of every pair differ a fixedly special angle on the locus by the indication of auxiliary read head indicating value and the rotation of rotor, specifically comprise the following steps:
1) with main read head and auxiliary read head zero clearing;
2) will assist read head and stator to fix and keep motionless, rotary rotor to main read head is positioned at
Figure FDA00002976310600011
The position (wherein, i=0,1,2,, n-1, step 2) repeat 1 time, i adds 1), recording main read head reading is { A 2i;
3) will assist read head and rotor to fix (reading that should guarantee main read head and auxiliary read head in fixation procedure does not change), rotary rotor to main read head reading is 0, and this moment, auxiliary read head reading was non-vanishing;
4) will assist read head and stator to fix and keep motionless (reading that should guarantee main read head and auxiliary read head in fixation procedure does not change), rotor turns over θ on the current location basis 0, namely go to main read head reading and be
Figure FDA00002976310600012
The position, wherein, M is the positive integer that is not equal to by the integral multiple of the main error frequency that is comprised in demarcation angular displacement sensor measuring error and these main frequencys, under this prerequisite, M is taken as prime number, and in difference was demarcated, M can be taken as different value, but in same time was demarcated, M can only get a fixing value;
5) will assist read head and rotor to fix (reading that should guarantee main read head and auxiliary read head in fixation procedure does not change), rotary rotor is 0 to auxiliary read head reading, and recording main read head reading is { A 2i+1;
6) repeat above-mentioned steps 2) to 5), a sequence A that comprises 2n measured value of the main read head of acquisition 0, A 1..., A 2n-2, A 2n-1
3. the online self-calibrating method of angular displacement sensor according to claim 1 and 2, it is characterized in that: describedly indicating value is carried out data process odd term and the even item refer to aforesaid main read head is measured in sequence and subtract each other item by item, obtain one and comprise n sequence { C that puts i, that is: C i=A 2i+1-A 2i, and to { C iCarry out discrete Fourier transformation, obtain its corresponding amplitude spectrum { Am iAnd phase spectrum { P i;
After described data were processed, the measuring error function representation of sensor was formula (1),
δ (θ)=A 0+ k (θ) (1) is wherein: δ (θ) is the measuring error function; θ is the measured angle displacement;
k ( θ ) = Σ i = 1 n / 2 - 1 { Am i 2 × sin ( i × Am 0 2 ) × sin ( i × θ + P i - π 2 - Am 0 2 ) }
A 0 = max ( k ( θ ) ) + min ( k ( θ ) ) 2 ;
Wherein: max (k (θ)) is the maximal value of k (θ); Min (k (θ)) is the minimum value of k (θ);
After obtaining the measuring error function δ (θ) of sensor, the sensor indicating value f of θ (θ) at an arbitrary position can be under the condition that does not need standard and other high precision measuring instruments, and through type (2) obtains its corresponding calibration value Ca (θ):
Ca(θ)=f(θ)-δ(θ) （2）。
4. according to claim 1,2 or 3 online self-calibrating methods of described angular displacement sensor, it is characterized in that: described fixedly special angle refers to: rotor is 0 ° from main read head reading and forwards main read head reading to and be
Figure FDA00002976310600023
The time actual angle that turns over, wherein, M is the positive integer that is not equal to the integral multiple of being demarcated the main error frequency that comprised in the angular displacement sensor measuring error and these main frequencys, under this prerequisite, M is taken as prime number.
5. the online self-calibrating method of angular displacement sensor according to claim 4, it is characterized in that: described M is taken as 17,19,23 ... the time, the demarcation effect is better.
CN201310102446.0A 2013-03-28 2013-03-28 The online self-calibrating method of a kind of angular displacement sensor Expired - Fee Related CN103162614B (en)

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CN114383646A (en) * 2021-10-29 2022-04-22 廊坊市大华夏神农信息技术有限公司 Method and equipment for detecting resolution of continuously-changing type measured sensor

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CN114383646A (en) * 2021-10-29 2022-04-22 廊坊市大华夏神农信息技术有限公司 Method and equipment for detecting resolution of continuously-changing type measured sensor
CN114383646B (en) * 2021-10-29 2023-08-25 廊坊市大华夏神农信息技术有限公司 Method and equipment for detecting resolution of continuously-variable measured sensor

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